Datalogic EtherNet/IP DS6 00 Series Installation and User Manual

Datalogic DS6x00 EtherNet/IP™ Scanner

Installation and User Guide

June 2004

REVISION 1.02

Installation and User Guide

DS6x00 EtherNet/IP Scanner Rev 1.02

Master Revision History

Revision Date Author(s) Change Description

1.00 10/30/2003 J. Wendorf Initial Revision

1.01 12/10/2003 J. Wendorf Modified Genius™ Pictures

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Table of Contents

I. INTRODUCTION................................................................................................................. 5

A. OVERVIEW........................................................................................................................... 5

B. REFERENCE TERMS.............................................................................................................. 5

C. REFERENCES........................................................................................................................ 5

II. ETHERNET/IP OVERVIEW ......................................................................................... 6

III. OBJECT MODEL .......................................................................................................... 10

A. IDENTITY OBJECT (0X01)................................................................................................... 11

1. CLASS ATTRIBUTES (INSTANCE 0)..................................................................................... 11

2. INSTANCE ATTRIBUTES (INSTANCE 1)................................................................................ 11

3. COMMON SERVICES ........................................................................................................... 11

4. INSTANCE ATTRIBUTE SEMANTICS .................................................................................... 12

B. MESSAGE ROUTER OBJECT (0X02).................................................................................... 14

C. ASSEMBLY OBJECT (0X04)................................................................................................ 15

1. CLASS ATTRIBUTES (INSTANCE 0)..................................................................................... 15

2. INSTANCE ATTRIBUTES (INSTANCE 0X64 – “INPUT INSTANCE 1”)..................................... 15

3. INSTANCE ATTRIBUTES (INSTANCE 0X65 – “INPUT INSTANCE 2”)..................................... 15

4. INSTANCE ATTRIBUTES (INSTANCE 0X70 – “OUTPUT INSTANCE 1”)................................. 16

5. INSTANCE ATTRIBUTES (INSTANCE 0X71 – “OUTPUT INSTANCE 2”)................................. 16

6. INSTANCE ATTRIBUTES (INSTANCE 0X80 – “CONFIGURATION INSTANCE”)....................... 16

7. INSTANCE ATTRIBUTES (INSTANCE 0X81 – “HEARTBEAT / INPUT ONLY INSTANCE”)....... 16

8. COMMON SERVICES ........................................................................................................... 16

9. CLASS ATTRIBUTE SEMANTICS.......................................................................................... 16

10. INSTANCE ATTRIBUTE SEMANTICS ................................................................................ 17

D. CONNECTION MANAGER OBJECT (0X06)........................................................................... 18

E. TCP OBJECT (0XF5).......................................................................................................... 19

1. CLASS ATTRIBUTES (INSTANCE 0)..................................................................................... 19

2. INSTANCE ATTRIBUTES (INSTANCE 1)................................................................................ 19

3. COMMON SERVICES ........................................................................................................... 19

4. INSTANCE ATTRIBUTE SEMANTICS .................................................................................... 20

F. ETHERNET LINK OBJECT (0XF6)........................................................................................ 23

1. CLASS ATTRIBUTES (INSTANCE 0)..................................................................................... 23

2. INSTANCE ATTRIBUTES (INSTANCE 1)................................................................................ 23

3. COMMON SERVICES ........................................................................................................... 23

4. INSTANCE ATTRIBUTE SEMANTICS .................................................................................... 23

G. ITEM OBJECT (0X64).......................................................................................................... 25

1. CLASS ATTRIBUTES (INSTANCE 0)..................................................................................... 25

2. INSTANCE ATTRIBUTES (INSTANCE 1)................................................................................ 25

3. COMMON SERVICES ........................................................................................................... 25

4. CLASS ATTRIBUTE SEMANTICS.......................................................................................... 25

5. INSTANCE ATTRIBUTE SEMANTICS .................................................................................... 26

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6. ITEM DATA HANDSHAKING EXAMPLE (NO FRAGMENTATION).......................................... 28

7. ITEM DATA HANDSHAKING EXAMPLE (WITH FRAGMENTATION) ...................................... 29

H. GENERAL PURPOSE INPUT OBJECT (0X65)......................................................................... 30

1. CLASS ATTRIBUTES (INSTANCE 0)..................................................................................... 30

2. INSTANCE ATTRIBUTES (INSTANCE 1)................................................................................ 30

3. COMMON SERVICES ........................................................................................................... 30

4. INSTANCE ATTRIBUTE SEMANTICS .................................................................................... 30

I. GENERAL PURPOSE OUTPUT OBJECT (0X66) ..................................................................... 31

1. CLASS ATTRIBUTES (INSTANCE 0)..................................................................................... 31

2. INSTANCE ATTRIBUTES (INSTANCE 1)................................................................................ 31

3. COMMON SERVICES ........................................................................................................... 31

4. INSTANCE ATTRIBUTE SEMANTICS .................................................................................... 31

J. STATISTICS OBJECT (0X67)................................................................................................ 32

1. CLASS ATTRIBUTES (INSTANCE 0)..................................................................................... 32

2. INSTANCE ATTRIBUTES (INSTANCE 1)................................................................................ 32

3. COMMON SERVICES ........................................................................................................... 32

4. INSTANCE ATTRIBUTE SEMANTICS .................................................................................... 32

K. DIAGNOSTICS OBJECT (0X68)............................................................................................ 33

1. CLASS ATTRIBUTES (INSTANCE 0)..................................................................................... 33

2. INSTANCE ATTRIBUTES (INSTANCE 1)................................................................................ 33

3. COMMON SERVICES ........................................................................................................... 33

4. INSTANCE ATTRIBUTE SEMANTICS .................................................................................... 33

IV. CONFIGURING THE DS6X00 FOR ETHERNET/IP............................................... 35

V. CONFIGURING LOGIX5550™ TO USE ETHERNET/IP........................................... 38

A. CONFIGURING THE ETHERNET ADAPTER............................................................................ 38

B. ACCESSING THE I/O DATA................................................................................................. 41

C. SAMPLE LADDER LOGIC .................................................................................................... 42

VI. USING EXPLICIT MESSAGING................................................................................ 45

A. SAMPLE LADDER LOGIC .................................................................................................... 45

B. CONFIGURING THE MSG INSTRUCTION.............................................................................. 46

VII. TROUBLESHOOTING PROCEDURES..................................................................... 47

APPENDIX A – ETHERNET/IP ERROR CODES ................................................................ 48

A. GENERAL STATUS CODES .................................................................................................. 48

B. FORWARD OPEN (CONNECTION ALLOCATION) ERROR CODES .......................................... 50

APPENDIX B – ETHERNET/IP SCANNER DEMO............................................................. 52

1. OVERVIEW......................................................................................................................... 52

2. SUCCESSFUL COMMUNICATIONS........................................................................................ 53

3. I/O CONNECTION FAILURE ................................................................................................ 54

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II. EtherNet/IP Overview

A LITTLE BACKGROUND

Most people who work in an office associate the term “Ethernet” with the physical cable behind

their desk. This cable connects their office PC to the printers and servers of the local network and

the infinite web sites on the Internet. This cable is only the physical part of Ethernet, the media

carrying Ethernet messages to your PC. On this wire is a whole series of communication

protocols such as IP, the Internet Protocol; TCP, the Transport Control Protocol; and various

Microsoft protocols such as NetBEUI. This suite of protocols works well for the office

environment. It allows users to share files, access printers, send email, search the Internet and

perform all the other communications used in the office environment.

The needs of the factory floor are much different with some very special requirements. Instead of

accessing files and printers, factory floor controllers must access data embedded in drive

systems, operator workstations and I/O devices. Instead of letting a user wait while a task is

being performed, factory floor data communications needs are real-time or very close to real

time. Terminating the fill operation on a bottle requires much more time-precise communications

than accessing the next page of an Internet site.

Traditionally, Ethernet had only limited acceptance in Industrial Automation. Until recently the

expense, lack of intelligent switches and routers and the domination of large vendors with

proprietary protocols prevented the wide acceptance of Ethernet on the factory floor. Now with

prices falling, PCs with inherent Ethernet capability moving in droves onto the factory floor and

intelligent switches and routers, Ethernet is gaining acceptance. Only the lack of a widely

accepted, flexible application layer targeted to Industrial Automation has prevented its complete

acceptance.

ETHERNET/IP

Ethernet/IP is the application layer protocol that can meet this challenge. Four independent

groups have joined forces to develop and promote EIP as a public domain Ethernet application

layer for Industrial Automation. These groups include the Open DeviceNet Vendor Association

(ODVA), the Industrial Open Ethernet Association (IOANA), Control Net International (CI) and

the Industrial Ethernet Association (IEA). The goals of this effort illustrate how EIP provides a

wide-ranging, comprehensive, certifiable standard suitable to a wide variety of automation

devices:

Ethernet/IP uses all the transport and control protocols used in traditional Ethernet including the

Transport Control Protocol (TCP), the Internet Protocol (IP) and the media access and signaling

technologies found in off-the-shelf Ethernet interface cards. Building on these standard PC

technologies means that EIP works transparently with all the standard off-the-shelf Ethernet

devices found in today’s marketplace. It also means that EIP can be easily supported on standard

PCs and all their derivatives. Even more importantly, basing EIP on a standard technology

platform ensures that EIP will move forward as the base technologies evolve in the future.

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ETHERNET/IP IS A CERTIFIABLE STANDARD

The groups supporting EIP plan to ensure a comprehensive, consistent standard by careful,

multi-vendor attention to the specification and through certified test labs as has been done with

DeviceNet and ControlNet. Certification programs modeled after the programs for DeviceNet

and ControlNet will ensure the consistency and quality of field devices.

EIP is built on a widely accepted protocol layer

EIP is constructed from a very widely implemented standard used in DeviceNet and ControlNet

called the Control and Information Protocol (CIP) and is illustrated on the attached drawing. This

standard organizes networked devices as a collection of objects. It defines the access, object

behavior and extensions which allow widely disparate devices to be accessed using a common

mechanism. Over 300 vendors now support the CIP protocol in present day products. Using this

technology in EIP means that EIP is based on a widely understood, widely implemented standard

that does not require a new technology shakedown period.

CIP OVERVIEW

The Communications and Information Protocol (CIP) is a communications protocol for

transferring automation data between two devices. In the CIP Protocol, every network device

represents itself as a series of objects. Each object is simply a grouping of the related data values

in a device. For example, every CIP device is required to make an Identity object available to the

network. The identity object contains related identity data values called attributes. Attributes for

the identity object include the vendor ID, date of manufacture, device serial number and other

identity data. CIP does not specify at all how this object data is implemented, only what data

values or attributes must be supported and that these attributes must be available to other CIP

devices.

The Identity object is an example of a required object. There are three types of objects defined by

the CIP protocol:

REQUIRED OBJECTS

Required objects are required by the specification to be included in every CIP device. These

objects include the Identity object, a Message Router object and a Network object.

The identity object contains related identity data values called attributes. Attributes for the

identity object include the vendor ID, date of manufacturer, device serial number and other

identity data.

A Network object contains the physical connection data for the object. For a CIP device on

DeviceNet the network object contains the MacID and other data describing the interface to the

CAN network. For EIP devices, the network object contains the IP address and other data

describing the interface to the Ethernet port on the device.

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APPLICATION OBJECTS

Application objects are the objects that define the data encapsulated by the device. These objects

are specific to the device type and function. For example, a Motor object on a Drive System has

attributes describing the frequency, current rating and motor size. An Analog Input object on an

I/O device has attributes that define the type, resolution and current value for the analog input.

These application layer objects are predefined for a large number of common device types. All

CIP devices with the same device type (Drive Systems, Motion Control, Valve Transducer…etc)

must contain the identical series of application objects. The series of application objects for a

particular device type is known as the device profile. A large number of profiles for many device

types have been defined. Supporting a device profile allows a user to easily understand and

switch from a vendor of one device type to another vendor with that same device type.

A device vendor can also group Application Layer Objects into assembly objects. These super

objects contain attributes of one or more Application Layer Objects. Assembly objects form a

convenient package for transporting data between devices. For example, a vendor of a

Temperature Controller with multiple temperature loops may define assemblies for each of the

temperature loops and an assembly with data from both temperature loops. The user can than

pick the assembly that is most suited for the application and how often to access each assembly.

For example, one temperature assembly may be configured to report every time it changes state

while the second may be configured to report every one-second regardless of a change in state.

Assemblies are usually predefined by the vendor but CIP also defines a mechanism in which the

user can dynamically create an assembly from application layer object attributes.

VENDOR SPECIFIC OBJECTS

Objects not found in the profile for a device class are termed Vendor Specific. These objects are

included by the vendor as additional features of the device. The CIP protocol provides access to

these vendor extension objects in exactly the same method as either application or required

objects. This data is strictly of the vendors choosing and is organized in whatever method makes

sense to the device vendor.

In addition to specifying how device data is represented to the network, the CIP protocol

specifies a number of different ways in which that data can be accessed such as cyclic, polled

and change-of-state.

ADVANTAGES TO EIP

The advantages of the CIP protocol layer over EIP are numerous. The consistent device access

means that a single configuration tool can configure CIP devices on different networks from a

single access point without using vendor specific software. The classification of all devices as

objects decreases the training and startup required when new devices are brought online. EIP

provides improved response time and greater data throughput than DeviceNet and ControlNet.

EIP links devices from the sensor bus level to the control level to the enterprise level with a

consistent application layer interface.

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There are numerous application layer competitors to EIP including Modbus/TCP from Groupe

Schneider, PROFInet from Siemens, HSE Fieldbus from the Fieldbus foundation and other

vendors. Unfortunately space prevents a detailed review of each of these products. However,

none of these competitors can provide the vendor support, flexibility and total architecture

support offered by the implementation of CIP over Ethernet.

USER CHALLENGES

EIP implementation is not without challenges. Two of the most important challenges to the first

time user include training and network configuration. One common problem is the lack of

trained staff who understand both the IT fundamentals and the automation network. A

collaborative effort between the IT and Automation staffs is required to successfully implement

the first Ethernet/IP system. A second challenge is proper network configuration. Planning your

Ethernet factory automation infrastructure is essential. Careful identification of all your control

loops, choosing the correct routers, switches and paths and documenting your network properly

are requisites for a communications network which meets your production goals and requires

little ongoing maintenance.

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III. Object Model

The Object Model is the logical grouping of attributes accessible from the DS6x00.

The DS6X00 supports 6 required objects

 Identity Object (0x01)

 Message Router Object (0x02)

 Assembly Object (0x04)

 Connection Manager Object (0x06)

 TCP Object (0xF5)

 Ethernet Link Object (0xF6)

The DS6X00 supports 5 vendor specific objects

 Item Object (0x64)

 General Purpose Input Object (0x65)

 General Purpose Output Object (0x66)

 Statistics Object (0x67)

 Diagnostics Object (0x68)

The following are the ODVA data types

Data Type Description

USINT

Unsigned Short Integer (8-bits)

UINT

Unsigned Integer (16-bit)

UDINT

Unsigned Double Integer (32-bit)

STRING

Character String (1 byte per character)

BYTE

Bit String (8-bits)

WORD

Bit String (16-bits)

DWORD

Bit String (32-bits)

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A. Identity Object (0x01)

1. Class Attributes (Instance 0)

Attribute

ID

Name Data Type Data Value Access

Rule

1 Revision UINT 1 Get

2. Instance Attributes (Instance 1)

Attribute

ID

Name Data Type Data Value Access

Rule

1 Vendor ID UINT 850

DEC

Get

2 Device Type UINT 00

HEX

Get

3 Product Code UINT 3000

DEC

Get

4 Product Major Revision

Product Minor Revision

USINT

01

Get

5 Status Word (see below for

definition)

WORD See Below Get

6 Serial Number UDINT Unique

32 Bit Value

Get

7 Product Name

Structure of:

Product Name Size

Product Name String

USINT

USINT [ ]

26

“Unattended

Scanning System”

Get

64

HEX

Product Model Number

Structure of:

Product Model Number Size

Product Model Number String

USINT

USINT [ ]

20

“Product Model

Number”

Get

3. Common Services

Implemented for

Service Code

Class Level Instance Level

Service Name

0E

HEX

Yes Yes Get_Attribute_Single

05

HEX

No Yes Reset

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4. Instance Attribute Semantics

Vendor ID

Vendor IDs are used to identify the manufacturer of a product. Vendor IDs are managed by

ODVA. The Vendor ID for Datalogic Inc. is 850.

Device Type

Device Types are used to identify the device profile used for a product. Device profiles define

the minimum set of attributes and objects required for conformance. The list of Device Types is

managed by ODVA. 0 (Generic Device) is the Device Type for this product.

Product Code

The Product Code is a number (0-65535) used to identify a vendor’s product within the device

type. The product code refers to the behavior of the product on a given network and doesn’t

affect functionality not seen by the network. The Product Code for this series of devices is 3000.

Product Major/Minor Revision

The Major and Minor Revision identify the revision of the item the Identity Object represents.

Zero is invalid for either field. The current revision of the product is 1.01.

Status Word

The Status Word represents the status of the complete device. Only bit zero (“Owned”) is

monitored for this device.

Bit Name Definition

0 Owned 0 - No I/O Connection Allocated

1 - I/O Connection Allocated

1 – 15 Unused Unused

Serial Number

The Serial Number is a 32-bit number used in conjunction with the Vendor ID to form a unique

number on DeviceNet. Each vendor is responsible for guaranteeing the uniqueness of the serial

number across all of its devices.

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Product Name

The Product Name is a string (up to 32 characters) that identifies a product on the network. The

same Product Code may have a variety of product name strings. The Product Name for this

family of products is “Unattended Scanning System”. The first byte in the access of this

attribute contains the length of the string (26 bytes).

Product Model Number

The Product Model Number is a vendor specific attribute used to identify the scanner. The string

length varies from 0 to 128 characters. The Product Model Number is set prior to shipping the

product. The default string is “Product Model Number” with a length of 20 bytes.

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B. Message Router Object (0x02)

<<< This object has no supported attributes or services >>>

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C. Assembly Object (0x04)

1. Class Attributes (Instance 0)

Attribute

ID

Name Data

Type

Data Value Access

Rule

1 Revision UINT 1 Get

2 Max Instance UINT 81

HEX

Get

2. Instance Attributes (Instance 0x64 – “Input Instance 1”)

Attribute

ID

Name Data

Type

Access

Rule

Polled Input Data

(Structure item location)

Structure of:

Class Instance Attribute

Item Sequence Number USINT 0x64 0x01 0x04

Item Status UINT 0x64 0x01 0x02

Item Data Size UINT 0x64 0x01 0x03

Local Presence And Input Bits BYTE 0x65 0x01 0x03

3

Failure Mask BYTE 0x68 0x01 0x01

Get

3. Instance Attributes (Instance 0x65 – “Input Instance 2”)

Attribute

ID

Name Data

Type

Access

Rule

3 Polled Input Data

(Structure item location)

Get

Structure of:

Class Instance Attribute

Item Sequence Number USINT 0x64 0x01 0x04

Item Status UINT 0x64 0x01 0x02

Item Data Size UINT 0x64 0x01 0x03

Local Presence And Input Bits BYTE 0x65 0x01 0x03

Failure Mask BYTE 0x68 0x01 0x01

Fragment Sequence Number USINT 0x64 0x01 0x05

Fragment Data Size UINT 0x64 0x01 0x08

Fragment Data [ ] BYTES [ ] 0x64 0x01 0x09

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4. Instance Attributes (Instance 0x70 – “Output Instance 1”)

Attribute

ID

Name Data

Type

Access

Rule

3 Polled Output Data

(Structure item locaiton)

Structure of:

Class Instance Attribute

Last Item Sequence Number Received USINT 0x64 0x01 0x06

Remote Presence And Output Bits UINT 0x66 0x01 0x03

Get /

Set

5. Instance Attributes (Instance 0x71 – “Output Instance 2”)

Attribute

ID

Name Data

Type

Access

Rule

3 Polled Output Data

(Structure item location)

Structure of:

Class Instance Attribute

Last Item Sequence Number Received USINT 0x64 0x01 0x06

Remote Presence And Output Bits UINT 0x66 0x01 0x03

Last Fragment Sequence Number Received USINT 0x64 0x01 0x07

Get /

Set

6. Instance Attributes (Instance 0x80 – “Configuration Instance”)

Many I/O clients include a configuration path when opening an I/O connection to the server.

There is no configuration data, but the instance number is necessary.

7. Instance Attributes (Instance 0x81 – “Heartbeat / Input Only Instance”)

This instance allows clients to monitor input data without providing output data. Since there is

no consume data, no attributes are supported.

8. Common Services

Implemented for

Service Code

Class Level Instance Level

Service Name

0E

HEX

Yes Yes Get_Attribute_Single

10

HEX

No Yes Set_Attribute_Single

9. Class Attribute Semantics

Max Instance

The Max Instance attribute lists the highest instance number (currently 0x81) that exists in the

Assembly Object.

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10. Instance Attribute Semantics

All Instance attributes in the Assembly Object are composed of attributes from other objects.

See the attribute definitions in their respective objects.

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D. Connection Manager Object (0x06)

<<< This object has no supported attributes or services >>>

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E. TCP Object (0xF5)

1. Class Attributes (Instance 0)

Attribute

ID

Name Data Type Data Value Access Rule

1 Revision UINT 1 Get

2. Instance Attributes (Instance 1)

Attribute

ID

Name Data Type Data Value Access Rule

1 Status DWORD 1 Get

2 Configuration Capability DWORD 0 Get

3 Configuration Control DWORD 0 Get

4 Physical Link Object

Structure of:

Path Size

Path

UINT

WORDS [ ]

2

0x20F6 0x2401

Get

5 Interface Configuration

Structure of:

IP Address

Network Mask

Gateway Address

Name Server

Name Server 2

Domain Name Size

Domain Name

UDINT

UINT

STRING

0

Get

6 Host Name

Structure of:

Host Name Size

Host Name

UINT

STRING

0

Get

3. Common Services

Implemented for

Service Code

Class Level Instance Level

Service Name

0E

HEX

Yes Yes Get_Attribute_Single

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4. Instance Attribute Semantics

Status

The Status attribute is a bitmap that indicates the status of the TCP/IP network interface. This

attribute value is fixed at 1.

Bit(s) Name Definition

0 – 3 Interface

Configuration

Status

0 – Interface Configuration attribute not configured

1 – Interface Configuration attribute contains a valid configuration

2 – 15 Reserved for future use

4 – 31 Reserved Unused

Configuration Capability

The Configuration Capability attribute is a bitmap that indicates the device’s support for optional

network configurations. This attribute value is fixed at 0 since network configuration

information is not available to the 6x00 EtherNet/IP Scanner.

Bit(s) Name Definition

0 BOOTP Client 1 (TRUE) indicates the device is capable of obtaining its

network configuration via BOOTP

1 DNS Client 1 (TRUE) indicates the device is capable of resolving host

names by querying a DNS server

2 DHCP Client 1 (TRUE) indicates the device is capable of obtaining its

network configuration via DHCP

3 DHCP-DNS Update 1 (TRUE) indicates the device is capable of sending its host

name in the DHCP request

4 Configuration

Settable

1 (TRUE) indicates the Interface Configuration attribute is

settable. This device does not allow this

5 – 31 Reserved Unused

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